From Tekkotsu Wiki

This page will show you how to install Tekkotsu on an Ubuntu workstation or netbook. You should have already installed all the required packages and dot files as described on the Ubuntu install instructions page. If you haven't done that, do it now, then come back to this page.

1. Check out the latest release of Tekkotsu:

sudo -s
cd /usr/local
cvs -d :pserver:anonymous@cvs.tekkotsu.org:/cvs co -P Tekkotsu

2. If you're using something other than a Create (or basic Calliope) robot, use your favorite editor to edit /usr/local/Tekkotsu/project/Environment.conf to select a default value for TGT_MODEL. The default default is TGT_CREATE; other popular options are TGT_CALLIOPE2SP, TGT_HANDEYE, and TGT_ERS7. If you skip this step, or will be using multiple robot types, you can override the target model in the make command by typing, e.g., make -j4 tekkotsu-CALLIOPE2SP.

3. Once you've edited and saved the Environment.conf file, you can compile Tekkotsu:

cd /usr/local/Tekkotsu/project
make    # use 'make -j4' if running on a fast workstation

4. Copy the project directory to the user's home directory.

su user
cp -rp /usr/local/Tekkotsu/project ~

Optional Software

• To use the Storyboard tool, see the Storyboard install instructions.

• To use the Mirage simulation environment, see the Mirage install instructions.

• If you're using a robot with Dynamixel servos, such as the Chiara, Calliope2SP, or Calliope5KP, you will want to compile the dynamixel_util tool. Do:

cd /usr/local/Tekkotsu/tools/dynamixel_util
make    # use 'make -j4' if running on a fast workstation